WO2020207123A1

WO2020207123A1 - Detachable/collapsable double-gantry mechanical arm surgical robot

Info

Publication number: WO2020207123A1
Application number: PCT/CN2020/076149
Authority: WO
Inventors: 张春霖
Original assignee: 苏州点合医疗科技有限公司
Priority date: 2019-04-11
Filing date: 2020-02-21
Publication date: 2020-10-15
Also published as: EP3909539C0; EP3909539A1; EP3909539B1; EP3909539A4

Abstract

The present invention relates to a detachable/collapsable double-gantry mechanical arm surgical robot, comprising an operating table, with two sides of the operating table being provided with X-direction guide control devices in pairs, wherein a main swing arm is mounted on each of the X-direction guide control devices via a main connecting base, a main push rod is mounted on the main connecting base, the main push rod is connected to a lower end of the main swing arm and pushes the main swing arm to swing, the main connecting base and upper end of the main swing arm are connected to a main positioning lock, the main swing arm is further connected to a Y-direction guide device, and the Y-direction guide device is connected to a Z-direction guide device, thereby forming a main gantry mechanical arm; and an auxiliary swing arm is mounted on the X-direction guide control device via an auxiliary connecting base, and an auxiliary positioning lock for increasing the rigidity of the auxiliary swing arm is further provided between the auxiliary swing arm and the auxiliary connecting base. Therefore, cooperation and different surgical operations of multiple surgical instruments can be realized. In addition, a double-arm structure is used to realize a high-precision synchronous operation similar to the operations performed by two hands or even multiple hands, thereby overcoming various defects of previous single-arm operations.

Description

A detachable double gantry type mechanical arm surgical robot

Technical field:

The invention belongs to the technical field of intelligent medical treatment, and designs a surgical robot, and particularly relates to a detachable double-gantry type mechanical arm surgical robot.

Background technique:

In recent years, some orthopedic surgical robots have been successfully applied clinically, such as the Mazor spinal assistant in Israel, the SPINEBOT spinal robot in South Korea, the Mazor X spinal surgery robot in the United States, and the Think joint surgery robot. Some of them are fixed on the human body. However, the single-arm structure is often used on the spinous process, which faces the following problems: 1. The load is as light as a spine surgery robot fixed on the human spinous process. Obviously, a wheeled single-arm articulated robot mounted on a trolley is also light. Carrying robot; 2. The rigidity is poor, such as a wheeled single-arm articulated spine surgery robot. Its mechanical arm is a very long cantilever structure. The end is only designed to carry a guide tube to guide the placement of the pedicle screw. It can meet the requirements, but For example, when the end of the robotic arm needs to carry heavy equipment, it is easy to deform and affect the accuracy of the operation; 3. The accuracy of the system is difficult to be further improved. Due to the above structural reasons, the improvement of the robot operation accuracy encounters a bottleneck problem, and it is difficult to further improve the accuracy; 4. Function Single, the difficulty of expansion and upgrade is mostly the single mechanical arm structure, which affects the realization of orthopedic multi-functional surgery; 5. The size is large, and the patient is easy to be "daunted". Some orthopedic surgical robots are bulky, which can easily make the patient fear and cause certain psychological pressure; 6. Occupies more space in the operating room and affects the convenience of operation.

The information disclosed in the background section is only intended to increase the understanding of the general background of the present invention, and should not be regarded as an acknowledgement or any form of suggestion that the information constitutes the prior art already known to those of ordinary skill in the art.

Summary of the invention:

In view of the above-mentioned shortcomings, the applicant actively researched and innovated, with a view to creating a detachable double-gantry manipulator surgical robot to make it more industrially valuable.

To achieve the above objective, the present invention provides a detachable double gantry manipulator surgical robot, including an operating table, characterized in that: X-direction guidance control devices are provided in pairs on both sides of the operating table, and The X-direction guide control device is equipped with a main swing arm through a main connecting seat, and a main push rod is also installed on the main connecting seat. The main push rod is connected to the lower end of the main swing arm and pushes the swing of the main swing arm. The main connecting seat and the upper end of the main swing arm are connected with a main positioning lock, the main swing arm is also connected with a Y-direction guide device, and the Y-direction guide device is connected with a Z-direction guide control device to form a main gantry robot arm ；

The X-direction guidance control device is equipped with an auxiliary swing arm through an auxiliary connecting seat, and a cross beam is connected between the auxiliary swing arms through a quick change mechanism to form an auxiliary gantry mechanical arm;

An auxiliary push rod is connected between the auxiliary connecting seat and the auxiliary swing arm, and the auxiliary push rod is connected to the lower end of the auxiliary swing arm, and an auxiliary positioning for increasing the rigidity of the auxiliary swing arm is also provided between the auxiliary swing arm and the auxiliary connecting seat. lock.

Preferably, in the above technical solution, the X-direction guide control device includes an X-direction guide rail, the X-direction guide rail is provided with a main X-direction slider and a secondary X-direction slider, and the main X-direction slider and the main connecting seat The auxiliary X-direction sliding block is connected with the auxiliary connecting seat, and one end of the X-direction guide rail is provided with an X-direction motion motor.

Preferably, in the above technical solution, the top end of the main swing arm is connected to the Y-direction guide device through an opening and closing device, the opening and closing device includes a positioning sleeve, the positioning sleeve is provided with a mounting hole, and the mounting hole penetrates A lock nut is provided, the positioning sleeve is installed on the top of the main swing arm by a locking bolt, a positioning boss is provided on the positioning sleeve, a groove is provided at the corresponding position on the top of the main swing arm, and the positioning protrusion The table is embedded in the groove.

Preferably, in the above technical solution, the main swing arm is provided with a main storage slot for accommodating the main positioning lock, and the auxiliary swing arm is provided with an auxiliary positioning lock for accommodating the auxiliary push rod.

Preferably, in the above technical solution, both the primary positioning lock and the secondary positioning lock include an engaging sleeve, an upper connecting rod is inserted into the upper end of the engaging sleeve, and a lower connecting rod is inserted into the lower end of the engaging sleeve, and The inner upper end of the adapter sleeve is provided with a main positive thread, the inner lower end of the adapter sleeve is provided with a main negative thread, the upper connecting rod is inserted into the adapter sleeve is provided with a main positive thread, and the lower connecting rod is inserted into the connecting sleeve. A part of the sleeve is provided with a main reverse thread, and a positive and reverse screw nut is provided in the connecting sleeve.

Preferably, in the above technical solution, a connecting buckle is provided on the top of the auxiliary swing arm, and the cross beam is positioned and connected by the connecting buckle.

Preferably, in the above technical solution, the Y-direction guide device includes a Y-direction drive motor, the Y-direction drive motor is equipped with a rotating shaft, and a main push rod is connected between the main connecting seat and the main swing arm.

With the above solution, the present invention has at least the following advantages:

1. With independent main gantry manipulator arm and auxiliary gantry manipulator arm, the Z-direction drive motor and the quick-change structure installed on the beam can be used for rapid instrument switching, which can realize the coordination of multiple surgical instruments and different surgical operations. In addition, the dual-arm structure is adopted, which can have better carrying capacity through the main gantry manipulator, and the auxiliary gantry manipulator has a flexible adjustment range. The two cooperate with each other to achieve synchronization and high-precision operation similar to "two hands". The various defects of the previous single-arm operation can meet the different operation requirements of a variety of operations, and it has good scalability and adapts to the surgical requirements of multiple disciplines.

2. It is equipped with independent X, Y, Z-direction guidance control devices, which can cooperate with subsequent control software to realize multi-axis motion control and adjustment, and improve the accuracy of robotic surgery.

3. Both the main gantry manipulator arm and the auxiliary gantry manipulator arm can be separated and assembled, which is convenient to install aseptic sleeves and ensure the safety and sterility of implementation.

4. The independent push rod structure can provide effective support and height adjustment for each gantry manipulator to meet the needs of various operations. After disassembly, the volume is significantly reduced to avoid excessive occupation of operating room space.

5. The overall structure is simple, and it can be used with various surgical instruments to meet the needs of robots for multi-functional expansion.

Preferably, in the above technical solution, a laser ranging sensor is installed on the Z-direction guidance control device; a joint fixing device is installed on the beam, the joint fixing device includes a fixing plate, and a level is installed on the fixing plate, The fixed board is also connected with the primary coordinate acquisition needle and the secondary coordinate acquisition needle at the same time.

Preferably, in the above technical solution, the fixing plate is in a "U" shape, fixing holes are opened on the fixing plate, fixing nails are connected in the fixing holes, and the fixing plate is respectively provided with a main fixing rod and A secondary fixed rod, the primary fixed rod is equipped with a primary coordinate acquisition needle, and the secondary fixed rod is connected with a secondary coordinate acquisition needle.

Preferably, in the above technical solution, the primary coordinate acquisition needle and the secondary coordinate acquisition needle each include a receiving sleeve, a plurality of needle bodies are distributed in an array in the receiving sleeve, and one side of the receiving sleeve is provided with a through hole. Shaft structure.

Preferably, in the above technical solution, the Z-direction guidance control device includes a Z-direction drive motor, and a quick change mechanism is installed on the Z-direction drive motor.

1. It has independent main gantry manipulator arm and auxiliary gantry manipulator arm. The auxiliary gantry manipulator arm has a flexible adjustment range and has a good fixation effect on bones (lower limbs such as femur and tibia). The main gantry manipulator arm has better Carrying capacity and rapid instrument switching through the Z-direction drive motor and the quick-change structure installed on the crossbeam. The two-arm structure cooperates with each other, "one is firmly grasped, and the other is flexibly cut", achieving a synchronized height similar to "hands" Accurate operation greatly improves the accuracy of joint surgery.

2. It is equipped with independent X, Y, Z-direction guidance and control devices, which can cooperate with subsequent control software to realize multi-axis motion control and adjustment, improve the accuracy of joint replacement robot surgery and expand the scope of application.

4. The primary coordinate acquisition needle, the secondary coordinate acquisition needle, and the laser ranging sensor are used to cooperate with each other to "map" the bone surface coordinates to the outside of the body, which is convenient to provide a more accurate position reference, and can ideally avoid periosteum coverage and bleeding during joint replacement surgery. And the influence of body fluids on the collection of bone coordinate points.

Preferably, in the above technical solution, the auxiliary gantry manipulator is equipped with a rotating drum instrument library and a rotating drive mechanism, including a rotating drum, the bottom of the rotating drum is provided with a turntable, and orthopedic power is respectively arranged in the rotating drum Lifting mechanism, soft tissue cutting tool lifting mechanism, pliers lifting mechanism, the upper end of the rotating drum constitutes a motor compartment, and the lower end constitutes a transmission compartment.

Preferably, in the above technical solution, the orthopedic power lifting mechanism includes a first motor located in the motor compartment, and the lower end of the first motor is connected with a first guide rail located in the transmission compartment, on the first guide rail A first sliding block is installed, and an orthopedic power connector is installed on the first sliding block.

Preferably, in the above technical solution, the soft tissue resection tool lifting mechanism includes a second motor located in the motor compartment, and a second guide rail located in the transmission compartment is connected to the lower end of the second motor. A second sliding block is installed on the second sliding block, and a soft tissue resection tool connector is installed on the second sliding block.

Preferably, in the above technical solution, the pliers lifting mechanism includes a third motor located in the motor compartment, the lower end of the third motor is connected with a third guide rail located in the transmission compartment, and the third guide rail is installed There is a third slider, and a pliers connector is installed on the third slider.

1. It has independent main gantry manipulator and auxiliary gantry manipulator, and implements rapid and automatic switching of instruments through the quick-change structure of the drum instrument library to achieve high-precision coordinated operation similar to "two hands" or even "multi-handed".

2. Large load capacity and good rigidity. Due to the strong rigidity and short cantilever of the gantry structure, various defects of the previous long cantilever articulated robots are changed, and a variety of surgical instruments can be installed at the same time as a "heavy load" to meet a variety of requirements. Spinal surgery or different operation requirements.

3. It is equipped with independent X, Y, Z-direction guidance control devices, which can cooperate with subsequent control software to realize multi-axis motion control and adjustment, and can realize independent control of orthopedic instruments, forceps instruments, and soft tissue resection tools to improve the robot Surgical operation flexibility and precision.

4. Both the main gantry manipulator arm and the auxiliary gantry manipulator arm can be separated and assembled, which is convenient to install aseptic sleeves and ensure the safety and sterility of implementation.

5. The independent push rod structure can provide effective support and height adjustment for each gantry manipulator to meet the needs of various operations. After disassembly, the volume is significantly reduced, avoiding excessive occupation of operating room space and improving operation convenience , Reduce the psychological fear of patients.

6. The drum instrument library has good expandability, which can meet the surgical requirements of a variety of spinal operations and even other disciplines of surgery.

Description of the drawings:

FIG. 1 is a schematic diagram of the side structure of the detachable double gantry manipulator surgical robot in embodiment 1.

Figure 2 is a schematic side view of the main gantry manipulator in embodiment 1.

Fig. 3 is a schematic diagram of the side structure of the surgical robot in use in the second embodiment (knee joint surface replacement as an example, including lower limb contours).

Fig. 4 is a schematic top view of the structure of the surgical robot in use in Embodiment 2 (knee joint surface replacement as an example, including lower limb contours).

FIG. 5 is a schematic diagram of the structure of the primary coordinate acquisition needle in Embodiment 2.

Fig. 6 is a schematic diagram of the installation of the rotating drum instrument library and the rotating drive mechanism and other surgical instruments in the third embodiment.

FIG. 7 is a schematic diagram of the side structure of the rotating drum instrument library and the rotating drive mechanism in the third embodiment.

8 is a schematic diagram of the front structure of the rotating drum instrument library and the rotating drive mechanism in the third embodiment.

The meanings of the reference signs in the figure are as follows:

1 Operating table 2 Main connection seat

3 Main swing arm 4 Y-direction guide device

5 Main positioning lock 6 secondary swing arms

7 beams 8 positioning locks

9 Main storage slot 10 X-direction guide rail

11 Main X-direction slider 12 X-direction motion motor

13 Connecting sleeve 14 Lower connecting rod

15 Upper connecting rod 16 Y-direction drive motor

17 Rotating shaft 18 Z-direction drive motor

19 Quick-change mechanism 20 Lock nuts

21 Positioning boss 22 Groove

23 connection button 24 positioning set

25 main putters 26 sub putters

27 Quick Change Organization 28 Laser Ranging Sensor

29 Fixed plate 30 Level meter

31 Primary coordinate collection needle 32 coordinate collection needles

33 main fixed rod 34 fixed rods

35 containment sleeve 36 needle body

37 Shaft-through structure 38 Rotary drum instrument library and rotary drive mechanism

39 turntable 40 turntable

41 Orthopedics Power Lifting Mechanism 42 Soft Tissue Resection Tool Lifting Mechanism

43 Pliers lifting mechanism 44 Motor compartment

45 Transmission Warehouse 46 First Motor

47 First rail 48 First slider

49 Orthopedics Power Connector 50 Second Motor

51 Second rail 52 Second slider

53 Tool connector 54 Third motor

55 Third rail 56 Third slider

57 pliers connector

detailed description:

The specific embodiments of the present invention are described in detail below, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.

Unless otherwise expressly stated otherwise, throughout the specification and claims, the term "comprising" or its variations such as "including" or "including" will be understood to include the stated elements or components, and not Other elements or other components are not excluded.

Example 1

A detachable double gantry manipulator surgical robot as shown in Figure 1 and Figure 2 includes an operating table 1. The difference lies in: in order to realize the X-direction movement adjustment of surgical instruments installed subsequently, the operating table X-direction guidance control devices are provided in pairs on both sides of 1. At the same time, a main swing arm 3 is installed on the X-direction guide control device through a main connecting seat 2, and a main push rod 25 is also installed on the main connecting seat 2. The main push rod 25 is connected with the lower end of the main swing arm 3 and pushes the main swing arm 3 to swing. In addition, a main positioning lock 5 is connected to the upper end of the main connecting seat 2 and the main swing arm 3, and a Z-direction guide control device is connected to the Y-direction guide device 4 to form a main gantry robot arm. During actual assembly, the top of the main swing arm 3 is equipped with a rotating shaft 17, and at the same time, a first shaft for connecting the main connecting seat 2 and a second shaft for connecting the main push rod 25 are respectively provided (not shown in the figure) . In addition, considering the operation of multiple postures and multiple instruments, the X-direction guidance control device is equipped with a secondary swing arm 6 through a secondary connecting seat, and a cross beam 7 is connected between the secondary swing arms 6 to form a secondary gantry manipulator. An auxiliary push rod 26 is installed on the auxiliary connecting seat, and the auxiliary push rod 26 is connected to the lower end of the auxiliary swing arm 6 to provide proper support and adjust the height of the cross beam 7. An auxiliary positioning lock 8 is also provided between the auxiliary swing arm 6 and the auxiliary connecting seat to increase the rigidity of the auxiliary swing arm 6. Considering the convenience of adjusting the posture of the auxiliary swing arm 6 and facilitating the subsequent switching of equipment, a quick change mechanism 27 is provided on the beam 7.

In combination with a preferred embodiment of the present invention, in order to achieve extreme angle adjustment, or to be largely stowed in a non-use state, the main push rod 25 can push the main swing arm 3 to rotate, and the main swing arm 3 A main storage slot 9 for accommodating the main positioning lock 5 is opened. At the same time, the auxiliary swing arm 6 is provided with an auxiliary storage groove (not shown in the figure) for accommodating the auxiliary positioning lock 8. In this way, during transportation or standby maintenance, one end of the main positioning lock 5 and the auxiliary positioning lock 8 can be removed and separated to better receive the main positioning lock 5 and the auxiliary positioning lock 8 into the corresponding main storage slot 9, auxiliary In the storage slot.

Looking further, considering the X-direction movement guidance, it can satisfy the independent control of the main gantry manipulator and the auxiliary gantry manipulator. The X-direction guide control device includes an X-direction guide rail 10, the X-direction guide rail 10 is provided with a main X-direction slider 11 and a secondary X-direction slider (not shown in the figure), the main X-direction slider 11 and the main connecting seat 2 The auxiliary X-direction sliding block is connected with the auxiliary connecting seat, and an X-direction motion motor 12 is provided at one end of the X-direction guide rail 10.

Based on the actual implementation, in order to realize the smooth adjustment of the main positioning lock 5 and the auxiliary positioning lock 8, and also have a better support effect when giving effective motion guidance, the main positioning lock 5 and the auxiliary positioning lock 8 both include a connection Sleeve 13, the upper end of the connecting sleeve 13 is inserted with an upper connecting rod 15, the lower end of the connecting sleeve 13 is inserted with a lower connecting rod 14, the inner upper end of the connecting sleeve 13 is provided with a main positive thread, and the inner lower end of the connecting sleeve 13 The upper connecting rod 15 is inserted into the connecting sleeve 13 is provided with a main positive thread, the lower connecting rod 14 is inserted into the connecting sleeve 13 is provided with a main reverse thread, and the connecting sleeve 13 is provided with a positive and negative rotation Nut. In this way, adjustment can be achieved by rotating the adapter sleeve 13.

Looking further, in order to meet the daily Y-direction adjustment, the Y-direction guiding device 4 includes a Y-direction drive motor 16 on which a rotating shaft 17 is installed. At the same time, in order to coordinate with the subsequently installed equipment to achieve Z-axis adjustment and better fit the affected area for implementation, the Z-direction guidance control device includes a Z-direction drive motor 18, and the Z-direction drive motor 18 is equipped with a quick change mechanism 19. In this way, various instruments can be switched and used according to the actual needs of different operations.

In order to change the closed gantry structure into an "open" state, a sterile sleeve is installed, and the top end of the main swing arm 3 is connected to the Y-direction guide 4 through an opening and closing device. Specifically, the opening and closing device used in the present invention includes a positioning sleeve 24, a mounting hole is provided on the positioning sleeve 24, and a locking nut 20 is passed through the mounting hole. The positioning sleeve 24 is installed on the main swing arm 3 through a locking bolt. top. At the same time, a positioning boss 21 is provided on the positioning sleeve 24, a groove 22 is provided at a corresponding position on the top of the main swing arm 3, and the positioning boss 21 is embedded in the groove 22.

At the same time, considering that the cross beam 7 is convenient to disassemble and assemble, facilitates the subsequent installation of instruments, and can also realize the installation of aseptic sleeves, the top of the secondary swing arm 6 is provided with a connecting buckle 23, and the cross beam 7 is positioned and connected by the connecting buckle 23. A quick-change mechanism 27 is also installed on the beam 7 to switch and use various types of equipment.

It can be seen from the above textual expressions combined with the drawings that the present invention has the following advantages:

1. With independent main gantry manipulator and auxiliary gantry manipulator, the Z-direction drive motor and the quick-change structure installed on the beam can be used for rapid instrument switching, which can realize the coordination of multiple surgical instruments and different surgical operations. In addition, the double-arm structure is adopted, and the double-gantry manipulator can have a better carrying capacity and a flexible adjustment range. The two cooperate with each other to achieve synchronous high-precision operation similar to "two hands", which is a change from the previous single-arm operation. Various defects can meet the different operation requirements of a variety of operations, and have good scalability, adapt to the surgical requirements of multiple disciplines.

2. It is equipped with independent X, Y, Z-direction guidance and control devices, which can cooperate with subsequent control software to realize multi-axis motion control and adjustment, and improve the accuracy of robotic surgery.

5. The overall structure is simple and can be used in combination with various surgical instruments.

Example 2

The double-gantry surgical robot for mapping and collecting bone surface coordinates for joint replacement as shown in Figures 1 to 5 includes an operating table 1. The difference lies in: in order to realize the X-direction movement adjustment of the surgical instruments installed subsequently, X-direction guidance control devices are provided in pairs on both sides of the operating table 1. At the same time, a main swing arm 3 is installed on the X-direction guide control device through a main connecting seat 2, and a main push rod 25 is also installed on the main connecting seat 2. The main push rod 25 is connected with the lower end of the main swing arm 3 and pushes the main swing arm 3 to swing. In addition, a main positioning lock 5 is connected to the upper end of the main connecting seat 2 and the main swing arm 3, and a Z-direction guide control device is connected to the Y-direction guide device 4 to form a main gantry robot arm. During actual assembly, the top of the main swing arm 3 is equipped with a rotating shaft 17, and at the same time, a first shaft for connecting the main connecting seat 2 and a second shaft for connecting the main push rod 25 are respectively provided (not shown in the figure) .

In addition, considering the operation of multiple postures and multiple instruments, the X-direction guidance control device is equipped with a secondary swing arm 6 through a secondary connecting seat, and a cross beam 7 is connected between the secondary swing arms 6 to form a secondary gantry manipulator. An auxiliary push rod 26 is installed on the auxiliary connecting seat, and the auxiliary push rod 26 is connected to the lower end of the auxiliary swing arm 6 to provide proper support and adjust the height of the cross beam 7. An auxiliary positioning lock 8 is also provided between the auxiliary swing arm 6 and the auxiliary connecting seat to increase the rigidity of the auxiliary swing arm 6. Considering the convenience of adjusting the posture of the auxiliary swing arm 6 and facilitating the subsequent switching of equipment, a quick change mechanism 27 is provided on the beam 7.

At the same time, in order to obtain the position of the subsequent acquisition needle in real time during use, the bone surface coordinates are "mapped" to the body through the tail of the needle, and a laser ranging sensor 28 is installed on the Z-direction guidance control device. In view of actual implementation, other devices that can be used to sense the position of the collection needle can replace the laser ranging sensor 28 to facilitate different implementation needs, and will not be repeated here. In consideration of better positioning of the joints and easy acquisition of the correct bone surface coordinates, the present invention is equipped with a joint fixing device on the beam, and the joint fixing device includes a fixing plate 29. Specifically, a level 30 for sensing the corresponding positions of the joints is installed on the fixed plate 29. In order to obtain more three-dimensional bone surface coordinates, a primary coordinate acquisition needle 31 and a secondary coordinate acquisition needle 32 are also connected to the fixing plate 29 at the same time.

Moreover, in order to adapt to the natural storage arc of a normal joint, the fixing plate 29 is in a "U" shape. Considering the installation and positioning requirements of various accessories, a fixing hole is opened on the fixing plate 29, and fixing nails are connected in the fixing hole. In view of actual use, the fixing plate 29 is provided with a main fixing rod 33 and an auxiliary fixing rod 34, respectively, the main fixing rod 33 is equipped with a main coordinate acquisition needle 31, and the auxiliary fixing rod 34 is connected with an auxiliary coordinate acquisition needle 32. Furthermore, in order to realize array-type data collection, the primary coordinate collection needle 31 and the secondary coordinate collection needle 32 each include a receiving sleeve 35, and a plurality of needle bodies 36 are distributed in the array in the receiving sleeve 35. Moreover, a shaft-through structure 37 is provided on one side of the accommodating sleeve 35, so that the shaft-through connection with the main fixing rod 33 or the auxiliary fixing rod 34 can be realized.

Based on the actual implementation, in order to realize the smooth adjustment of the main positioning lock 5 and the auxiliary positioning lock 8, and also have a better support effect when giving effective motion guidance, the main positioning lock 5 and the auxiliary positioning lock 8 both include a connection Sleeve 13, the upper end of the connecting sleeve 13 is inserted with an upper connecting rod 15, the lower end of the connecting sleeve 13 is inserted with a lower connecting rod 14, the inner upper end of the connecting sleeve 13 is provided with a main positive thread, and the inner lower end of the connecting sleeve 13 The upper connecting rod 15 is inserted into the connecting sleeve 13 is provided with a main positive thread, the lower connecting rod 14 is inserted into the connecting sleeve 13 is provided with a main reverse thread, and the connecting sleeve 13 is provided with a positive and negative rotation Nut. In this way, adjustment can be achieved by rotating the adapter sleeve 13. Of course, any mechanism that can lock and support the positions of the main gantry manipulator and the auxiliary gantry manipulator can be used to replace the main positioning lock 5 and the auxiliary positioning lock 8, as long as the positioning and use safety of each gantry manipulator is satisfied.

Looking further, in order to meet the daily Y-direction adjustment, the Y-direction guiding device 4 includes a Y-direction drive motor 16 on which a rotating shaft 17 is installed. At the same time, in order to coordinate with the subsequently installed equipment to achieve Z-axis adjustment and better fit the affected area for implementation, the Z-direction guidance control device includes a Z-direction drive motor 18, and the Z-direction drive motor 18 is equipped with a quick change mechanism 19. In this way, various cutting instruments can be switched and used according to the actual needs of different joint replacement surgeries.

The working principle of the present invention is as follows:

Taking knee joint surface replacement as an example, the extension or contraction of the main positioning lock can push the main swing arm up and down to suit different patients. When the main positioning lock is retracted to the shortest time, the main swing arm can be retracted to be flush with the operating table. Because the combination of the main positioning lock and the main swing arm has good stability and almost no cantilever, the robot therefore has good rigidity.

During use, the primary coordinate acquisition needle and the secondary coordinate acquisition needle are sleeve-type matrix-like structures, and their needle tips can pierce the periosteum, and "map" the bone surface coordinates to the body through the tail of the needle. In this way, it is ideal to avoid the influence of periosteum coverage, bleeding and body fluids on the collection of bone coordinate points during joint replacement surgery.

At the same time, along with the movement of the main gantry manipulator, the laser distance sensor scans several points on the tail of the needle, so that after collecting the coordinates of the bone surface at the surgical exposure position, it can be registered to determine the lower limb force line and perform the osteotomy operation.

1. It has independent main gantry manipulator arms and auxiliary gantry manipulator arms. The main and auxiliary gantry manipulator arms have flexible adjustment ranges and have a good fixation effect on bones (lower limbs such as femur and tibia). Excellent load-bearing capacity and rapid instrument switching through the Z-direction drive motor and the quick-change structure installed on the crossbeam. The structure of the two arms cooperates with each other, "one is firmly grasped, the other is flexibly cut", achieving a similar "hands" Synchronous high-precision operation greatly improves the accuracy of joint surgery.

Example 3

A gantry-type retractable robotic spine surgery robot as shown in Figures 1, 2, 6, 7, and 8, including an operating table 1. In order to adjust the X-direction movement of surgical instruments to be subsequently installed, the two sides of the operating table 1 X-direction guidance control devices are provided in pairs on the sides. At the same time, a main swing arm 3 is installed on the X-direction guide control device through a main connecting seat 2, and a main push rod 25 is also installed on the main connecting seat 2. The main push rod 25 is connected with the lower end of the main swing arm 3 and pushes the main swing arm 3 to swing. In addition, a main positioning lock 5 is connected to the upper end of the main connecting seat 2 and the main swing arm 3, and a Z-direction guide control device is connected to the Y-direction guide device 4 to form a main gantry robot arm. During actual assembly, the top of the main swing arm 3 is equipped with a rotating shaft 17, and at the same time, a first shaft for connecting the main connecting seat 2 and a second shaft for connecting the main push rod 25 are respectively provided (not shown in the figure) . In addition, considering the operation of multiple postures and multiple instruments, the X-direction guidance control device is equipped with a secondary swing arm 6 through a secondary connecting seat, and a cross beam 7 is connected between the secondary swing arms 6 to form a secondary gantry manipulator. An auxiliary push rod 26 is installed on the auxiliary connecting seat, and the auxiliary push rod 26 is connected to the lower end of the auxiliary swing arm 6 to provide proper support and adjust the height of the cross beam 7. An auxiliary positioning lock 8 is also provided between the auxiliary swing arm 6 and the auxiliary connecting seat to increase the rigidity of the auxiliary swing arm 6. Considering the convenience of posture adjustment of the auxiliary swing arm 6 and the convenience of subsequent equipment switching, the beam 7 is provided with a quick-change mechanism 27. The difference is that the auxiliary gantry manipulator is equipped with a rotating drum equipment library and a rotary drive. The mechanism 38 includes a rotating drum 39. The bottom of the rotating drum 39 is provided with a rotating table 40. The rotating drum 39 is provided with an orthopedic power lifting mechanism 41, a soft tissue resection tool lifting mechanism 42, and a forceps lifting mechanism 43. The upper end of the rotating drum 39 constitutes a motor The lower end of the bin 44 constitutes a transmission bin 45.

In combination with a preferred embodiment of the present invention, in order to achieve effective stroke control for subsequent installation of various orthopedic surgical instruments, the adopted orthopedic power lifting mechanism 41 includes a first motor 46 and a second motor located in the motor compartment 44. The lower end of a motor 46 is connected with a first guide rail 47 in the transmission bin 45, a first sliding block 48 is installed on the first guide rail 47, and an orthopedic power connector 49 is installed on the first sliding block 48. At the same time, in order to cooperate with the work of the soft tissue removal tool, the adopted soft tissue removal tool lifting mechanism 42 includes a second motor 50 located in the motor compartment 44, and a second guide rail 51 located in the transmission compartment 45 is connected to the lower end of the second motor 50 , A second sliding block 52 is installed on the second guide rail 51, and a soft tissue resection tool connector 53 is installed on the second sliding block 52. In addition, for the precise operation of the forceps device during the operation, the forceps lifting mechanism 43 used includes a third motor 54 located in the motor compartment 44, and the lower end of the third motor 54 is connected to a third guide rail 55 located in the transmission compartment 45 , A third slider 56 is installed on the third guide rail 55, and a pliers connector 57 is installed on the third slider 56.

At the same time, in order to meet the daily Y-direction adjustment, the Y-direction guiding device 4 includes a Y-direction drive motor 16 on which a rotating shaft 17 is installed. At the same time, in order to coordinate with the subsequently installed equipment to achieve Z-axis adjustment and better fit the affected area for implementation, the Z-direction guidance control device includes a Z-direction drive motor 18, and the Z-direction drive motor 18 is equipped with a quick change mechanism 19. In this way, various instruments can be switched and used according to the actual needs of different operations.

1. It has independent main gantry manipulator and auxiliary gantry manipulator arms, and uses the quick-change structure of the rotating drum instrument library to quickly and automatically switch instruments, realizing high-precision coordinated operation similar to "two hands" or even "multiple hands".

2. Large load capacity and good rigidity. Due to the strong rigidity and short cantilever of the gantry structure, various defects of the previous single-arm articulated robots are changed, and a variety of surgical instruments can be installed at the same time as a "heavy load" to meet a variety of requirements. Different operation requirements of spine surgery.

5. The independent push rod structure can provide effective support and height adjustment for each gantry manipulator to meet the needs of various operations. After disassembly, the volume is significantly reduced to avoid excessive occupation of operating room space.

The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and illustration. These descriptions are not intended to limit the invention to the precise form disclosed, and it is obvious that many changes and changes can be made based on the above statements. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can realize and use various exemplary embodiments of the present invention and various different Choice and change. The scope of the present invention is intended to be defined by the claims and their equivalents.

Claims

A detachable double-gantry manipulator surgical robot, including an operating table, is characterized in that: X-direction guidance control devices are provided in pairs on both sides of the operating table, and the X-direction guidance control device is connected by a main The base is equipped with a main swing arm, and the main connecting seat is also equipped with a main push rod. The main push rod is connected to the lower end of the main swing arm and pushes the swing of the main swing arm. A main positioning lock is connected to the upper end, a Y-direction guide device is also connected to the main swing arm, and a Z-direction guide control device is connected to the Y-direction guide device to form a main gantry mechanical arm;

The X-direction guidance control device is equipped with an auxiliary swing arm through an auxiliary connecting seat, and a cross beam is connected between the auxiliary swing arms through a quick change mechanism to form an auxiliary gantry mechanical arm;

An auxiliary push rod is connected between the auxiliary connecting seat and the auxiliary swing arm, and the auxiliary push rod is connected to the lower end of the auxiliary swing arm, and an auxiliary positioning for increasing the rigidity of the auxiliary swing arm is also provided between the auxiliary swing arm and the auxiliary connecting seat. lock.
The detachable double gantry manipulator surgical robot according to claim 1, characterized in that: the X-direction guidance control device includes an X-direction guide rail, and the X-direction guide rail is provided with a main X-direction slider With the auxiliary X-direction slider, the main X-direction slider is connected with the main connection base, the auxiliary X-direction slider is connected with the auxiliary connection base, and an X-direction motion motor is provided at one end of the X-direction guide rail.
The detachable double gantry manipulator surgical robot according to claim 1, wherein the top end of the main swing arm is connected to the Y-direction guide device through an opening and closing device, and the opening and closing device includes a positioning device. The positioning sleeve is provided with a mounting hole, a locking nut is penetrated in the mounting hole, the positioning sleeve is installed on the top of the main swing arm by a locking bolt, and a positioning boss is provided on the positioning sleeve, A groove is provided at a corresponding position on the top of the main swing arm, and the positioning boss is embedded in the groove.
The detachable double-gantry manipulator surgical robot according to claim 1 or 3, wherein the main swing arm is provided with a main storage slot for accommodating the main positioning lock, and the auxiliary swing arm is An auxiliary positioning lock for accommodating the auxiliary push rod is provided.
A detachable double gantry manipulator surgical robot according to claim 4, characterized in that: the main positioning lock and the auxiliary positioning lock both include a connecting sleeve, and an upper end of the connecting sleeve is inserted Connecting rod, a lower connecting rod is inserted into the lower end of the connecting sleeve, the upper inner end of the connecting sleeve is provided with a main positive thread, the inner lower end of the connecting sleeve is provided with a main reverse thread, and the upper connecting rod is inserted The part of the connecting sleeve is provided with a main positive thread, the part where the lower connecting rod is inserted into the connecting sleeve is provided with a main reverse thread, and the connecting sleeve is provided with a positive and negative rotating nut.
The detachable double-gantry manipulator surgical robot according to claim 4, wherein a connecting buckle is provided on the top of the auxiliary swing arm, and the beam is positioned and connected by the connecting buckle.
The detachable double gantry manipulator surgical robot according to claim 1 or 3, wherein the Y-direction guiding device includes a Y-direction drive motor, and a rotating shaft is installed on the Y-direction drive motor, A main push rod is connected between the main connecting seat and the main swing arm.
The detachable double gantry manipulator surgical robot according to claim 1, characterized in that: the Z-direction guidance control device is equipped with a laser ranging sensor; the beam is equipped with a joint fixing device, and the joint The fixing device includes a fixing plate on which a level is installed, and the fixing plate is also connected with a primary coordinate acquisition needle and a secondary coordinate acquisition needle at the same time.
The detachable double gantry manipulator surgical robot according to claim 8, characterized in that: the fixed plate is in a "U" shape, the fixed plate is provided with a fixed hole, and a fixed hole is connected to the fixed hole. A main fixing rod and an auxiliary fixing rod are respectively provided on the fixing plate, the main fixing rod is equipped with a main coordinate acquisition needle, and the auxiliary fixing rod is connected with a secondary coordinate acquisition needle.
The detachable double-gantry manipulator surgical robot according to claim 8, characterized in that: the primary coordinate acquisition needle and the secondary coordinate acquisition needle each include a housing sleeve, and a plurality of arrays are distributed in the housing sleeve. In the needle body, a shaft-through structure is provided on one side of the housing sleeve.
The detachable double gantry manipulator surgical robot according to claim 1 or 8, wherein the Z-direction guidance control device includes a Z-direction drive motor, and the Z-direction drive motor is equipped with a fast Change agency.
The detachable double gantry manipulator surgical robot according to claim 1, wherein the auxiliary gantry manipulator arm is equipped with a rotating drum instrument library and a rotating drive mechanism, including a rotating drum, and the bottom of the rotating drum A turntable is provided, and an orthopedic power lifting mechanism, a soft tissue cutting tool lifting mechanism, and a pliers lifting mechanism are respectively arranged in the rotating drum. The upper end of the rotating drum constitutes a motor compartment, and the lower end constitutes a transmission compartment.
The detachable double gantry manipulator surgical robot according to claim 12, wherein the orthopedic power lifting mechanism includes a first motor located in a motor compartment, and a lower end of the first motor is connected to A first guide rail in the transmission bin, a first sliding block is installed on the first guide rail, and an orthopedic power connector is installed on the first sliding block.
The detachable double gantry manipulator surgical robot according to claim 12, wherein the soft tissue removal tool lifting mechanism includes a second motor located in the motor compartment, and the lower end of the second motor is connected with A second guide rail located in the transmission compartment, a second sliding block is installed on the second guide rail, and a soft tissue cutting tool connector is installed on the second sliding block.
The detachable double gantry manipulator surgical robot according to claim 12, wherein the forceps lifting mechanism includes a third motor located in the motor compartment, and the lower end of the third motor is connected to the transmission A third guide rail in the bin, a third sliding block is installed on the third guide rail, and a pliers connector is installed on the third sliding block.